US 12,296,472 B2
Mobile manipulator
Tomohiro Okada, Kyoto (JP); and Teisuke Katagi, Kyoto (JP)
Assigned to OMRON Corporation, Kyoto (JP)
Appl. No. 17/793,031
Filed by OMRON Corporation, Kyoto (JP)
PCT Filed Feb. 5, 2021, PCT No. PCT/JP2021/004322
§ 371(c)(1), (2) Date Jul. 14, 2022,
PCT Pub. No. WO2021/171965, PCT Pub. Date Sep. 2, 2021.
Claims priority of application No. 2020-032230 (JP), filed on Feb. 27, 2020.
Prior Publication US 2023/0044274 A1, Feb. 9, 2023
Int. Cl. B66F 9/06 (2006.01); B25J 9/00 (2006.01); B25J 18/00 (2006.01)
CPC B25J 9/0009 (2013.01) [B25J 18/00 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A mobile manipulator, comprising:
an unmanned transport vehicle;
a robot base portion mounted on the unmanned transport vehicle;
a robot arm mounted on the robot base portion; and
a first mounting portion and a second mounting portion which are arranged on the robot base portion and on which a predetermined transported object is mounted,
wherein the first mounting portion holds the transported object in a state where a bottom surface of the transported object is inclined with respect to a horizontal, and
a part of the second mounting portion overlaps on the first mounting portion in a plan view,
wherein the first mounting portion and the second mounting portion respectively have a first bottom surface support wall and a second bottom surface support wall that support the bottom surface of the transported object,
the second bottom surface support wall is located above a plane including the first bottom surface support wall.